Calum Johnston / Gait

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Show/hide line numbers Gait.h Source File

Gait.h

00001 #ifndef HEXAPOD_GAIT_H
00002 #define HEXAPOD_GAIT_H
00003 
00004 #include "mbed.h"
00005 #include "PCA9685.h"
00006 #include "HEXAPOD_LEG.h"
00007 #include "Tripod.h"
00008 
00009 class Gait {
00010     
00011     public:
00012         Gait(Tripod tripod_1, Tripod tripod_2);
00013         void start(int group);
00014         void stop(void);   
00015         
00016     private:
00017         void time_1(void);
00018         void time_2(void);
00019         
00020     private:
00021         Timeout tripod_1_timeout;
00022         Timeout tripod_2_timeout;
00023         
00024         Tripod group_1;
00025         Tripod group_2;
00026 
00027 };
00028 
00029 #endif
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